Adaptive variable structure tracking control for robot manipulators

Without any knowledge of robot dynamics except two properties (skew-symmetry and boundedness of robot parameter matrices), an adaptive variable structure tracking control algorithm for the tracking problem of desired trajectories is proposed. A simple adaptation law for the estimation of bounds of robot parameter matrices is presented. The construction of the adaptation law depends only on desired and actual trajectories. The global asymptotic stability for the robot systems is proven using the Lyapunov stability theorem